DELTAHANDS：基于Delta机器人的协同灵巧手框架
DELTAHANDS: A Synergistic Dexterous Hand Framework Based on Delta Robots
AI总结：
提出基于Delta机器人的协同灵巧手框架DELTAHANDS，兼具柔软、易制造、高自由度且控制简单，通过驱动协同调节灵巧性，实验验证了抓取多样物体及完成三项灵巧操作任务的能力。
摘要：
在非结构化环境中的灵巧机器人操作有助于完成清洁和看护等日常任务。拟人化机器人手具有高度灵巧性，理论上非常适合在人类领域工作，但其复杂的设计和动力学往往使其难以控制。相比之下，平行颚夹持器易于控制，并广泛用于工业应用，但缺乏各种抓取和手内操作所需的灵巧性。在这项工作中，我们提出了DELTAHANDS，一种基于Delta机器人的协同灵巧手框架。DELTAHANDS柔软、易于重新配置、使用低成本现成材料制造简单，并拥有易于控制的高自由度。通过利用驱动协同，DELTAHANDS的灵巧性可根据不同应用进行调整，这可以进一步降低控制复杂性、总体成本和能耗。我们表征了Delta机器人的运动学精度、力分布和工作空间范围，以辅助手部设计。最后，我们通过抓取多种不同物体以及使用遥操作完成三项灵巧操作任务（布料折叠、瓶盖开启和电缆整理）来评估DELTAHANDS的多功能性。我们在https://sites.google.com/view/deltahands/开源了我们的手部框架。
英文摘要：
Dexterous robotic manipulation in unstructured environments can aid in everyday tasks such as cleaning and caretaking. Anthropomorphic robotic hands are highly dexterous and theoretically well-suited for working in human domains, but their complex designs and dynamics often make them difficult to control. By contrast, parallel-jaw grippers are easy to control and are used extensively in industrial applications, but they lack the dexterity for various kinds of grasps and in-hand manipulations. In this work, we present DELTAHANDS, a synergistic dexterous hand framework with Delta robots. The DELTAHANDS are soft, easy to reconfigure, simple to manufacture with low-cost off-the-shelf materials, and possess high degrees of freedom that can be easily controlled. DELTAHANDS' dexterity can be adjusted for different applications by leveraging actuation synergies, which can further reduce the control complexity, overall cost, and energy consumption. We characterize the Delta robots' kinematics accuracy, force profiles, and workspace range to assist with hand design. Finally, we evaluate the versatility of DELTAHANDS by grasping a diverse set of objects and by using teleoperation to complete three dexterous manipulation tasks: cloth folding, cap opening, and cable arrangement. We open-source our hand framework at https://sites.google.com/view/deltahands/.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
